CN108311545A - A kind of y-type rolling mill tandem rolling centering and pass detecting system and method - Google Patents
A kind of y-type rolling mill tandem rolling centering and pass detecting system and method Download PDFInfo
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- CN108311545A CN108311545A CN201810330703.9A CN201810330703A CN108311545A CN 108311545 A CN108311545 A CN 108311545A CN 201810330703 A CN201810330703 A CN 201810330703A CN 108311545 A CN108311545 A CN 108311545A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/12—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring roll camber
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Abstract
The invention discloses a kind of y-type rolling mill tandem rolling centering and pass detecting systems and method, belong to milling train centering and pass detection technique field.The y-type rolling mill tandem rolling centering of the present invention and pass detecting system, including laser alignment emitter, laser, reception device, laser scanning device and signal control acquisition system, the laser scanning device be equipped with for laser by positioning aperture, and the swing mechanism that can be rotated around X-axis and Y-axis is installed thereon, laser range finder is installed, laser range finder is connected with signal control acquisition system on the swing mechanism.Each frame central of Continuous mill train, each rack pass of test and roll surface can accurately be adjusted using this detecting system, reliable data are supported and technology ensures to be provided for accurate grinding roller, with roller and continuous rolling pass centering.
Description
Technical field
The invention belongs to milling train centering and pass detection technique fields, more specifically to a kind of y-type rolling mill tandem rolling pair
In and pass detecting system and method, the detecting system is by laser range sensor and precision stepper motor screw mechanism to Y
Type milling train tandem rolling line unit carries out centering, and is measured to each design of section of rolling mill.
Background technology
Y-type rolling mill is to be mutually the plate-like roll that 120 ° are distributed by three to constitute, and roll is at Y-type layout, milling train unit one
As be made of 6-13 frame working stands, adjacent engine base is alternately arranged in Y types with inverted Y-shaped.Blank passes through each machine in Continuous mill train
Frame gradually rolls, the product that could become section configuration at last rack outlet and be of the required size.To make blank have
It is deformed to effect, the groove for meeting metal plastic flow and adapting to appointed condition, same rack need to be processed on roll
The groove of upper three rolls is combined pass when forming deformation of rolled wire by certain condition.
Each design of section of rolling mill changes successively according to rolling sequence in unit, shape, positions and dimensions precision and preceding
The centering situation of afer bay pass determines the quality of rolled products and being smoothed out for production.Therefore, milling train is accurately tested
Pass and tandem rolling centering situation are the primary and essential conditions that pass machining and continuous rolling relationship are established.It is domestic at present mainly to use
Whether clearance gauge, which is jumped a queue, advises to detect pass, equal with roll gap between each roll of rack using clearance gauge inspection, and feeler gauge is used to try jack
Type, this method accuracy of detection is limited, cumbersome.Both at home and abroad also about using what the methods of optical imagery was detected to grind
Study carefully, but external corresponding product price is high, requirement is also high, and domestic technique is also immature, and promotional value is limited.
Such as, Chinese Patent Application No. is 201020297766.8 application case discloses a kind of for pass centering of rolling mill
Optical instrument, this application include：One laser emitter is fixed on laser emitter adjustment frame, is set in laser emitter
There is a transmitting eyeglass；One projection platen bracket, is set on tandem mill and can be moved forward and backward along projecting direction；One projection screen, fixation are set
In on projection platen bracket, the projection screen is divided into the both sides of the roll of the tandem mill with laser emitter.Pass centering is examined
When testing, the diverging of the emitted eyeglass of lasing light emitter of laser transmitter projects projects, so across continuous rolling mill roller hole on projection screen
The pass projection size on projection screen is compared with the pass control drawing on projection screen afterwards, checks mounted roll hole
Type whether there is installation deviation.The precision being detected to design of section of rolling mill using the instrument of this application is still relatively low, especially to rolling
The defects of hole generated when roller use, can not be detected, while this application also can not be to the centering of each rack pass before and after milling train
Situation is detected and adjusts.
Therefore, work out it is a kind of the pass and tandem rolling centering relationship of milling train can accurately be detected, and be adapted for
The equipment of popularization has great importance for the quality and production efficiency that improve the corresponding rolled products in China.
Invention content
1. technical problems to be solved by the inivention
It is an object of the invention to overcome the existing y-type rolling mill continuous rolling pass in China and centering measuring accuracy relatively low not
Foot provides a kind of y-type rolling mill tandem rolling centering and pass detecting system and method.It is each that the present invention can accurately test Continuous mill train
Rack pass and tandem rolling centering situation, to provide reliable data branch for accurate grinding roller, with roller and the positive continuous rolling pass centering of guarantor
It holds and ensures with technology.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention is：
A kind of y-type rolling mill tandem rolling centering of the present invention and pass detecting system, including laser beam emitting device, laser pick-off dress
It sets and laser scanning device, is set on the laser beam emitting device there are three laser emitter, laser receiver is equipped with and swashs
Corresponding three laser pickoffs of optical transmitting set, the laser scanning device be equipped with for laser by three positioning apertures
And laser range sensor.
Further, the laser scanning device is connected with signal control acquisition system.
Further, the laser scanning device is equipped with swing mechanism, drives laser ranging to pass by swing mechanism
Sensor deflects, to be scanned ranging successively to the difference on roll.
Further, the swing mechanism includes Y shafts swing mechanism and X shaft swing mechanisms, and the X shafts are returned
Rotation mechanism includes the X shafts being installed on laser scanning device, and the motor for driving X shafts to turn round；The Y shafts are returned
Rotation mechanism includes the Y shafts being mounted in X shafts, and the motor for driving Y shafts to turn round；The laser ranging sensing
Device is mounted in Y shafts, and laser range sensor is acquired by cable and signal control with the motor in X shafts, Y shafts
System connects.
Further, the laser beam emitting device, laser receiver and laser scanning device are installed on holder,
And the height of above-mentioned holder is adjustable.
Further, it is additionally provided with signal indicator on the laser scanning device.
Further, the triangle center of three laser emitters is mutually be overlapped with rolling centerline head
It closes, the triangle center of three laser pickoffs coincides with rolling centerline tail portion.
Further, signal control acquisition system includes control system, and data input, output port are upper
Machine and processing analyzing software system, control system are used to control motor rotation and the acquisition of signal transmission, data input, output end
The responsible data input of mouth, output, host computer is responsible for receiving the signal that control system transmits, and utilizes and handle analysis software system
System analyzes signal, obtains y-type rolling mill pass situation and roller surface roller shape and defect situation.
A kind of y-type rolling mill tandem rolling centering of the present invention and pass detection method, include the following steps：
Step 1: determining roll line center：
The datum mark end to end being arranged when installation and debugging initial using rolling line by laser beam emitting device and swashs as benchmark
Optical receiver apparatus is separately mounted to the initial position and final position of roll line, opens the laser emitter on laser beam emitting device
Emit laser, if laser receiver can be correctly received laser, then three laser-formed beam centers and rolling center
Line coincides；Such as cannot, then be adjusted according to rolling line master reference point, until can be properly received, to ensure to swash
Optical transmitting set center is overlapped with the center of roll line with laser pickoff center；
Step 2: the placement and adjustment of laser ranging (scanning) device
Laser scanning device is mounted on behind the first rolling mill, and adjusting apparatus height, laser beam emitting device is made to emit
Three laser pass through three positioning apertures on laser scanning device, and received by laser receiver, to ensure laser
The center of scanning means is overlapped with rolling centerline；
Step 3: calibration zero：
Laser scanning device is connected to signal and controls acquisition system, the test that opening signal controls in acquisition system is soft
Part, swing mechanism to zero-bit, laser range sensor demarcate zero；
Step 4: the processing of test data and the construction of roll model
The beginning in test software is clicked, system is tested automatically, and transversal scanning rotational angle is denoted as vectorial A=[α1
α2 … αn], longitudinal scanning rotational angle is denoted as vectorial B=[β1 β2 … βm], the distance that laser range sensor (11) measures
Value is denoted as sij, i is row system number, and j is row system number；The data that test obtains are subjected to a cloud coordinate conversion splicing successively, point cloud is put down
Sliding denoising, point cloud data be simplified, surface fitting and three-dimensional reconstruction processing are to get to complete roll threedimensional model, you can checks
Go out to roll the alignment case and rolls damage situation in hole；
Step 5: according to above-mentioned data processed result, pass and pass center are adjusted, so that pass is met the requirements, in pass
The heart is overlapped with roll line center, can be into multiple adjustment and test, until reaching requirement if cannot once complete to adjust；
Step 6: after completing the test of the first rack, continue the test of follow-up rack, the survey until completing institute's organic frame
Examination and adjustment.
Further, in the step 4 system test automatically the specific steps are：
(1) three or more targets are placed on roll, are for a cloud mark, and it is right to assign one, each target ball
The ID answered, the then initial lateral scanning angle α of system setting1, longitudinal scanning angle beta1, and record laser range finder value at this time
S11；
(2) when starting to be scanned roll zones, longitudinal scanning angle beta is first kept1Constant, transversal scanning rotates successively
Angle [α1 α2 … αn], recording laser rangefinder value obtains following s1j=[s11 s12 … s1n]；The first row scanning is completed
Afterwards, longitudinal scanning angular turn is to β2, start to scan the second row, transversal scanning rotational angle [α successively1 α2 … αn], record
Laser range finder value obtains following s2j=[s21 s22 … s2n]；Change regulation of longitudinal angle successively, progressively scans, until entire roller
System's scanning is completed, and system records the matrix that the distance value of following m × n is constituted：
(3) accurate scan is carried out to public target, in case precision is high when modeling fitting target when subsequently being spliced, at this time
First plane is completed；
(4) 120 degree of roll is rotated, is repeated the above process, second of sweep test is completed；It is rotated further by 120 degree of progress thirds
Secondary sweep test；By sweep test three times, the test value of 0 degree, 120 degree and 240 degree of roll rotation is obtained respectively；
(5) by taking 0 degree of roll rotation as an example, roll D coordinates value is calculated；The D coordinates value at roller surface any point,
It is obtained by following equation：
xij=sij cosαicosβj
yij=sij sinαjcosβj
zij=sijsinβj
Thus roller surface three-dimensional coordinate matrix is obtained to be expressed as：
It is primary that 120 degree of tests are often rotated when being tested due to roll, therefore can obtain three groups of matrixes, 0 degree of test matrix：(X0,Y0,
Z0), 120 degree of test matrix (X120,Y120,Z120) and 240 degree of test matrix (X240,Y240,Z240)。
3. advantageous effect
Using technical solution provided by the invention, compared with existing known technology, there is following remarkable result：
(1) a kind of y-type rolling mill tandem rolling centering of the invention and pass detecting system, including laser beam emitting device, laser connect
Receiving apparatus and laser scanning device, by the setting of laser beam emitting device and laser receiver to the rolling centerline of milling train into
Row determines, and the centering situation of rolling mill roll line is detected and is adjusted, while with by laser beam emitting device and laser pick-off
Positioning datum of the laser that device determines as laser scanning device, surveys each design of section of rolling mill using laser scanning device
Examination, design of section of rolling mill center and rolling centerline registration accuracy are high when test, registration, so as to effectively improve milling train tandem rolling
The precision of centering and pass detection, advantageously ensures that the rolling accuracy of product.
(2) a kind of y-type rolling mill tandem rolling centering of the invention and pass detecting system, set that there are three swash on laser beam emitting device
Optical transmitting set, laser receiver be equipped with laser pickoff corresponding with laser emitter, due to using laser three-D at
Picture, and laser ranging precision itself is higher, therefore its test result is more intuitive, and measuring accuracy is high.
(3) a kind of y-type rolling mill tandem rolling centering of the invention and pass detecting system, the laser beam emitting device, laser connect
Receiving apparatus and laser ranging system are installed on holder, can be filled to laser beam emitting device, laser pick-off by adjusting bracket
It sets and the spatial position of laser ranging system is adjusted, consequently facilitating the adjustment at each milling train center of unit.
(4) a kind of y-type rolling mill tandem rolling centering of the invention and pass detecting system, due to laser strong antijamming capability, because
This, which has, preferably resists the more ability of live water mist vapour, dust, while test equipment and test process are easy to operate, reduce
Labor intensity and management cost, are suitable for popularization and application.
(5) a kind of y-type rolling mill tandem rolling centering of the invention and pass detection method, are connect using laser beam emitting device and laser
Receiving apparatus is determined the position of rolling centerline and laser scanning device, and milling train centering is more accurate, and easy to operate.Profit
Ranging is scanned to all the points on rolling mill roll with laser scanning device, the three-dimensional of rolling mill roll is obtained by data processing
Model, so as to accurately check the alignment case and rolls damage situation of rolling hole, for ensureing the accurate tune of roll pass
Whole and workpiece rolling quality plays an important roll.
Description of the drawings
A kind of y-type rolling mill tandem rolling centering of Fig. 1 present invention and the structural schematic diagram of pass detecting system.
Fig. 2 is the structural schematic diagram of the centering laser beam emitting device of the present invention.
Fig. 3 is the triangle that three laser emitters of the centering laser beam emitting device of the present invention are constituted.
Fig. 4 is the triangle that three laser pickoffs of the centering laser receiver of the present invention are constituted.
Fig. 5 is the structural schematic diagram of the laser scanning device of the present invention.
Fig. 6 is the structural schematic diagram of the centering laser receiver of the present invention.
Fig. 7 is the swing mechanism of the present invention and the structural schematic diagram of laser range sensor.
Fig. 8 is coordinate system schematic diagram when detecting system using the present invention is scanned roll zones.
Drawing reference numeral explanation：
1：Laser beam emitting device；2：Y-type rolling mill；3：Laser scanning device；4：Rolling centerline；5：Laser receiver；
6：Signal controls acquisition system；7、8、9：Laser emitter；10：The triangle center of three laser emitters；11：Swash
Ligh-ranging sensor；12, Y shafts swing mechanism；13：X shaft swing mechanisms；14、15、16：Position aperture；17：Signal designation
Device；18、19、20：Laser pickoff；21：The triangle center of three laser pickoffs.
Specific implementation mode
To further appreciate that present disclosure, in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment 1
As shown in figs 1 to 6, a kind of y-type rolling mill tandem rolling centering of the present embodiment and pass detecting system, including laser hair
Injection device 1, laser receiver 5 and laser scanning (ranging) device 3, set that there are three laser to send out on the laser beam emitting device 1
Emitter 7,8,9, laser receiver 5 is equipped with three laser pickoffs 18,19,20 corresponding with laser emitter, described
Laser scanning device 3 be equipped with for laser by three positioning apertures 14,15,16 and laser range sensor (laser ranging
Instrument) 11, and laser scanning device 3 is connected with signal control acquisition system 6.Above-mentioned laser beam emitting device 1, laser receiver 5
And laser ranging system 3 is installed on holder, and support height is adjustable.
The datum mark end to end being arranged when installation and debugging initial using rolling line is as benchmark, by 1 He of laser beam emitting device
Laser receiver 5 is separately mounted to the initial position and final position of roll line, makes three to swash by the height of adjusting bracket
The triangle center 10 of optical transmitting set coincides with rolling centerline head, and three laser pickoff institutes are triangle
Center 21 coincide with rolling centerline tail portion, to enable laser receiver 5 receive laser beam emitting device 1 emit
3 laser, and then can ensure that centering situation to rolling mill roll line accurately detect and adjust.Meanwhile with by laser
Positioning datum of the laser that emitter 1 and laser receiver 5 determine as laser scanning device 3, on laser beam emitting device 1
Three beams of laser pass through laser scanning device 3 on positioning aperture 14,15,16 received by laser receiver 5, three beams of laser is true
Determine the position of rolling centerline, signal indicator 17 to be additionally provided on the laser scanning device 3, when three beams of laser is all by laser
Signal indicator 17 is bright when reception device 5 receives.Since aperture 14,15,16 has certain length, if laser scanning device
3 with rolling center deviated or itself tilt, then laser beam cannot pass through, need adjust team, until laser receiver 5
Three beams of laser is received, to ensure that being accurately positioned for laser scanning device 3.Using laser scanning device 3 to each milling train hole
Type is tested, and design of section of rolling mill center and rolling centerline registration accuracy are high when test, registration, so as to effectively improve
The precision of the centering of milling train tandem rolling and pass detection, advantageously ensures that the rolling accuracy of product.
Embodiment 2
A kind of y-type rolling mill tandem rolling centering of the present embodiment and pass detecting system, structure is substantially the same as embodiment 1, area
It does not essentially consist in：Laser scanning device 3 is equipped with swing mechanism in the present embodiment, and laser ranging sensing is driven by swing mechanism
Device 11 deflects, to be scanned ranging successively to the difference on roll.Specifically, in conjunction with Fig. 7, the present embodiment returns
Rotation mechanism includes Y shafts swing mechanism 12 and X shafts swing mechanism 13, and the X shafts swing mechanism 13 includes being installed on laser
X shafts on scanning means 3, and drive the motor that turns round of X shafts；The Y shafts swing mechanism 12 includes being mounted on X
Y shafts in shaft, and drive the motor that turns round of Y shafts；The laser range sensor 11 is mounted on Y shafts
On, and laser range sensor 11 controls acquisition system 6 with signal by cable with the motor in X shafts, Y shafts and connect.
Above-mentioned signal control acquisition system 6 includes control system, and data input, output port, host computer and processing are analyzed
Software systems, control system are used to control motor rotation and the acquisition of signal transmission, and it is defeated that data input, output port is responsible for data
Enter, export, host computer is responsible for receiving the signal that control system transmits, and is carried out to signal using processing analyzing software system
Analysis, obtains y-type rolling mill pass situation and roller surface roller shape and defect situation.Drive X shafts and Y shafts respectively by motor
Rotary motion occurs, to be scanned ranging successively to all the points on roll.X-axis angle of rotation on laser scanning device 3
Degree and Y-axis rotational angle are provided by signal control acquisition system 6, and the measuring signal of laser range sensor 11 is adopted by signal control
Collecting system 6 records.
Embodiment 3
A kind of y-type rolling mill tandem rolling centering of the present embodiment and pass detecting system, structure is the same as embodiment 2.Using this reality
When applying the detecting system of example and being detected to milling train tandem rolling centering situation and pass, filled by laser beam emitting device 1 and laser pick-off
5 are set to determine rolling center, and the positioning datum of laser ranging system 3 is provided.After the installation calibration zero of laser scanning device 3,
Each rack is scanned successively, measured signal is uploaded to host computer, signal is analyzed using processing analysis software, obtains Y
The data informations such as each rack pass, centering, roller surface size and defect in type unit.Using the present embodiment detecting system according to
It is secondary each rack pass of tandem rolling line is tested and is adjusted after, can effectively ensure that tandem rolling string holes type and centering are good, and its test,
Degree of regulation is higher, and milling train centering and pass detection are as follows：
Step 1: determining roll line center：
The datum mark end to end being arranged when installation and debugging initial using rolling line is as benchmark, by 1 He of laser beam emitting device
Laser receiver 5 is separately mounted to the initial position and final position of roll line, opens the laser hair on laser beam emitting device
Emitter emits laser, if laser receiver can be correctly received laser, then three laser-formed beam centers and rolling
Center line coincides；Such as cannot, then be adjusted according to rolling line master reference point, until can be properly received, to protect
Card laser emitter center is overlapped with the center of roll line with laser pickoff center；
Step 2: the placement and adjustment of laser ranging (scanning) device
Laser scanning device 3 is mounted on behind first y-type rolling mill 2, and adjusting apparatus height, makes laser beam emitting device
Three laser of 1 transmitting pass through three positioning apertures 14,15,16 on laser scanning device 3.Since aperture has a fixed length
Degree, opening length direction is vertical with 3 plane of laser ranging (scanning) device, while 3 points can determine a plane, three
Laser can pass through three apertures, determined that device space position.After installing, it is ensured that laser ranging system 3
Center is overlapped with rolling centerline, and plane is vertical with laser beam.
Step 3: calibration zero：
Laser scanning device 3 is connected to signal and controls acquisition system 6, opening signal controls the test in acquisition system 6
Software, swing mechanism to zero-bit, laser range sensor 11 demarcate zero；
Step 4: the processing of test data and the construction of roll model
The beginning in test software is clicked, system is tested automatically, and transversal scanning rotational angle is denoted as vectorial A=[α1
α2 … αn], longitudinal scanning rotational angle is denoted as vectorial B=[β1 β2 … βm], the distance value that laser range sensor 11 measures
It is denoted as sij, i is row system number, and j is row system number, determines that coordinate system is as shown in Figure 8；The specific step that system is tested automatically in the present embodiment
Suddenly it is：
(1) three or more targets are placed on roll, are for a cloud mark, and it is right to assign one, each target ball
The ID answered, the then initial lateral scanning angle α of system setting1, longitudinal scanning angle beta1, and record laser range finder value at this time
S11；
(2) when starting to be scanned roll zones, longitudinal scanning angle beta is first kept1Constant, transversal scanning rotates successively
Angle [α1 α2 … αn], recording laser rangefinder value obtains following s1j=[s11 s12 … s1n]；The first row scanning is completed
Afterwards, longitudinal scanning angular turn is to β2, start to scan the second row, transversal scanning rotational angle [α successively1 α2 … αn], record
Laser range finder value obtains following s2j=[s21 s22 … s2n]；Change regulation of longitudinal angle successively, progressively scans, until entire roller
System's scanning is completed, and system records the matrix that the distance value of following m × n is constituted：
(3) accurate scan is carried out to public target, in case precision is high when modeling fitting target when subsequently being spliced, at this time
First plane is completed；
(4) 120 degree of roll is rotated, is repeated the above process, second of sweep test is completed；It is rotated further by 120 degree of progress thirds
Secondary sweep test；By sweep test three times, the test value of 0 degree, 120 degree and 240 degree of roll rotation is obtained respectively；
(5) by taking 0 degree of roll rotation as an example, roll D coordinates value is calculated；The D coordinates value at roller surface any point,
It is obtained by following equation：
xij=sij cosαicosβj
yij=sij sinαjcosβj
zij=sijsinβj
Thus roller surface three-dimensional coordinate matrix is obtained to be expressed as：
It is primary that 120 degree of tests are often rotated when being tested due to roll, therefore can obtain three groups of matrixes, 0 degree of test matrix：(X0,Y0,
Z0), 120 degree of test matrix (X120,Y120,Z120) and 240 degree of test matrix (X240,Y240,Z240)。
Obtained data will be tested and carry out cloud coordinate conversion splicing, point cloud smoothing denoising, point cloud data simplification, a song successively
Face is fitted and three-dimensional reconstruction processing is to get to complete roll threedimensional model, you can checks the alignment case and roll for rolling hole
Damaged condition, detailed process are as follows：
(1) point cloud coordinate conversion splicing
The target point-cloud fitting that each angle measurement is scanned assigns each target one corresponding ID at model, journey
Sequence automatically can match the identical target of ID titles according to the ID of target, substantially be that the geometry based on object under test surface is special
It levies to be the relationship for realizing point cloud data alignment.The point cloud data scanned under three angles is carried out by the registration of target
Conversion is spliced under current identical coordinate system.
(2) cloud smoothing denoising is put
The point cloud data with the noise to peel off is handled using Robust filtering algorithms, if this point, which converges, is combined into P,
It defines a nonparametric probability function f and makees point cluster, look for a suitable kernel estimates function, define the poly- of scattered points P
Class center is the local maximum of kernel estimates f function, the cluster of discrete point can be detected with simple threshold condition, and it is deleted
It removes.
It is that sampled point Pi defines a local likelihood function Li first, is the least square fitting plan range by x to P
Square determination.Least square fitting plane, and the part of all sampled points are obtained by covariance matrix of the calculating with weight
It is likelihood function L obtained by likelihood function weighted accumulation.
So, lower likelihood is possessed with regard to closer point away from the point of least square plane relatively far away from.Seek likelihood letter
Number L (x), reflection point x whether be point on sample plane S likelihood.After determining L (x), light then is carried out to point cloud data
Along denoising.Method is：All the points cloud is moved to maximum likelihood value position, rising maximized method with gradient finds L
(x) local maximum.
When the maximum value number of likelihood function L (x) is less than kernel estimates number, so that it may these points are polymerized to a class, i.e.,
For cluster, then this accumulation is replaced with the local maximum of L (x).
(3) point cloud data simplifies
Curvature is used to characterize curve or the characteristic quantity of curve form variation can extract song according to the variation degree of curvature
The point of characterization testee feature on face, curvature is bigger, then the local surface where the point is more likely to be testee
Characteristic point, it is bigger in the Curvature varying of sampling area, including important characteristic information.
Curvature principle of parsimony：Retain a small amount of point for the smaller region of curvature, the larger region of curvature retains more points.
According to amount of curvature, point cloud data is divided into multiple curvature sections, corresponding each curvature section sets different threshold values.
It is located in a certain curvature section, according to sequence from small to large, the section, incurvature is ranked up, if the section
Threshold value is h, and curvature datum mark takes the point p0 of the section incurvature minimum, if in section point pj and datum mark p0 absolute value of the difference
Less than h, then point pj is deleted, is otherwise retained.Again using point pj as new datum mark, above procedure is repeated until the point in the section is complete
Portion relatively finishes.Then this method effectively keeps the feature of Object reconstruction curved surface and reduces data point.
(4) surface fitting
Surface fitting is the spline curve that data point is generated to fitting in the way of approaching, and first passes through model build tool,
A series of processing and processing are carried out, the model of patch is generated, finally makes patch refinement, simplify, generate and meet the complete of needs
Whole surface model.Come matched curve in the way of approaching, the vertex of the permissible value and Control curve of an error is tentatively set
Number finds out a curve, and calculate in time all then on the basis of all measurement data points using least square method
Distance of the data point to the curve.If maximum distance is more than set allowable error value, need by increasing control top
Point number, recycle least square method carry out matched curve again, until finally obtained curve met the requirements in precision for
Only.
(5) three-dimensional reconstruction
The Surface Reconstruction of three dimensional point cloud is exactly the curved die that body surface is built according to three dimensional point cloud
Type, and the geometry of surface model is made to reflect the shape feature of body surface as far as possible.According to rebuild curved surface type,
Select subdivision curved surface Model Reconstruction.
Subdivision curved surface model reconstruction techniques mainly since an initial polygonal mesh, according to certain topology rule with
Geometrical rule recursively calculates new top points, edges, faces, and refines initial polygonal mesh with this, generates finer and closely woven
New polygonal mesh.With the continuous progress of segmentation process, the number of the top points, edges, faces of polygonal mesh is continuously increased, gradually
As a more smooth curved surface.Will eventually get complete roll threedimensional model, you can check the alignment case portalled and
Rolls damage situation.
Step 5: according to above-mentioned data processed result, pass and pass center are adjusted, so that pass is met the requirements, in pass
The heart is overlapped with roll line center, can be into multiple adjustment and test, until reaching requirement if cannot once complete to adjust；
Step 6: after completing the test of the first rack, continue the test of follow-up rack, the survey until completing institute's organic frame
Examination and adjustment.The roll line and roll pass of milling train can not only be carried out accurately to detect and adjust using the method for the present embodiment
Section, while the defects of hole on roll can also be detected, consequently facilitating ensureing the rolling quality and precision of workpiece.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of the embodiment of this patent, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (10)
1. a kind of y-type rolling mill tandem rolling centering and pass detecting system, it is characterised in that：It is connect including laser beam emitting device (1), laser
Receiving apparatus (5) and laser scanning device (3) set on the laser beam emitting device (1) there are three laser emitter (7,8,9), swash
Optical receiver apparatus (5) is equipped with three laser pickoffs (18,19,20) corresponding with laser emitter, the laser scanning
Device (3) be equipped with for laser by three positioning apertures (14,15,16) and laser range sensor (11).
2. a kind of y-type rolling mill tandem rolling centering according to claim 1 and pass detecting system, it is characterised in that：It is described to swash
Light scanning apparatus (3) is connected with signal control acquisition system (6).
3. a kind of y-type rolling mill tandem rolling centering according to claim 2 and pass detecting system, it is characterised in that：It is described to swash
Light scanning apparatus (3) is equipped with swing mechanism, drives laser range sensor (11) to deflect by swing mechanism, to right
Difference on roll is scanned ranging successively.
4. a kind of y-type rolling mill tandem rolling centering according to claim 3 and pass detecting system, it is characterised in that：Described
Swing mechanism includes Y shafts swing mechanism (12) and X shafts swing mechanism (13), and the X shafts swing mechanism (13) includes peace
Loaded on the X shafts on laser scanning device (3), and the motor that drives X shafts to turn round；The Y shafts swing mechanism
(12) include the Y shafts being mounted in X shafts, and the motor for driving Y shafts to turn round；The laser range sensor
(11) it is mounted in Y shafts, and laser range sensor (11) passes through cable and signal control with the motor in X shafts, Y shafts
Acquisition system (6) connection processed.
5. a kind of y-type rolling mill tandem rolling centering and pass detecting system, feature according to any one of claim 1-4 exist
In：The laser beam emitting device (1), laser receiver (5) and laser scanning device (3) are installed on holder, and above-mentioned
The height of holder is adjustable.
6. a kind of y-type rolling mill tandem rolling centering and pass detecting system, feature according to any one of claim 1-4 exist
In：It is additionally provided with signal indicator (17) on the laser scanning device (3).
7. a kind of y-type rolling mill tandem rolling centering according to claim 6 and pass detecting system, it is characterised in that：Described three
The triangle center of a laser emitter (10) coincides with rolling centerline head, and three laser pickoffs are constituted
Center (21) and the rolling centerline tail portion of triangle coincide.
8. a kind of y-type rolling mill tandem rolling centering and pass detecting system, feature according to any one of claim 2-4 exist
In：The signal control acquisition system (6) includes control system, and data input, output port, host computer and processing analysis are soft
Part system, control system are used to control motor rotation and the acquisition of signal transmission, and it is defeated that data input, output port is responsible for data
Enter, export, host computer is responsible for receiving the signal that control system transmits, and is carried out to signal using processing analyzing software system
Analysis, obtains y-type rolling mill pass situation and roller surface roller shape and defect situation.
9. a kind of y-type rolling mill tandem rolling centering and pass detection method, which is characterized in that include the following steps：
Step 1: determining roll line center：
The datum mark end to end being arranged when installation and debugging initial using rolling line by laser beam emitting device (1) and swashs as benchmark
Optical receiver apparatus (5) is separately mounted to the initial position and final position of roll line, opens the laser on laser beam emitting device (1)
Transmitter emits laser, if laser receiver (5) can be correctly received laser, then three laser-formed beam centers with
Rolling centerline coincides；Such as cannot, then be adjusted according to rolling line master reference point, until can be properly received, from
And ensures laser emitter center and overlapped with the center of roll line with laser pickoff center；
Step 2: the placement and adjustment of laser ranging system
Laser scanning device (3) is mounted on behind the first rolling mill, and adjusting apparatus height, laser beam emitting device (1) is made to send out
Three laser penetrated pass through three positioning apertures (14,15,16) on laser scanning device (3), and by laser receiver (5)
It receives, to ensure that the center of laser scanning device (3) is overlapped with rolling centerline；
Step 3: calibration zero：
Laser scanning device (3) is connected to signal control acquisition system (6), opening signal controls the survey in acquisition system (6)
Software, swing mechanism to zero-bit are tried, laser range sensor (11) demarcates zero；
Step 4: the processing of test data and the construction of roll model
The beginning in test software is clicked, system is tested automatically, and transversal scanning rotational angle is denoted as vectorial A=[α1 α2 …
αn], longitudinal scanning rotational angle is denoted as vectorial B=[β1 β2 … βm], the distance value note that laser range sensor (11) measures
For sij, i is row system number, and j is row system number；The data that test obtains are subjected to a cloud coordinate conversion splicing successively, point cloud is smoothly gone
It makes an uproar, point cloud data is simplified, surface fitting and three-dimensional reconstruction processing are to get to complete roll threedimensional model, you can check and roll
The alignment case and rolls damage situation in hole；
Step 5: according to above-mentioned data processed result, adjust pass and pass center, pass made to meet the requirements, pass center with
Roll line center overlaps, can be into multiple adjustment and test, until reaching requirement if cannot once complete to adjust；
Step 6: after completing the test of the first rack, continue the test of follow-up rack, until complete institute organic frame test and
Adjustment.
10. a kind of y-type rolling mill tandem rolling centering according to claim 9 and pass detection method, it is characterised in that：The step
In rapid four system test automatically the specific steps are：
(1) three or more targets are placed on roll, are for a cloud mark, and it is corresponding to assign one, each target ball
ID, the then initial lateral scanning angle α of system setting1, longitudinal scanning angle beta1, and record laser range finder value S at this time11；
(2) when starting to be scanned roll zones, longitudinal scanning angle beta is first kept1It is constant, transversal scanning rotational angle successively
[α1 α2 … αn], recording laser rangefinder value obtains following s1j=[s11 s12 … s1n]；After the completion of the first row scanning, indulge
β is turned to scanning angle2, start to scan the second row, transversal scanning rotational angle [α successively1 α2 … αn], recording laser is surveyed
Distance meter value obtains following s2j=[s21 s22 … s2n]；Change regulation of longitudinal angle successively, progressively scan, until entire roller system is scanned
It completes, system records the matrix that the distance value of following m × n is constituted：
(3) accurate scan is carried out to public target, in case precision is high when follow-up modeling fitting target when being spliced, at this time first
Plane is completed；
(4) 120 degree of roll is rotated, is repeated the above process, second of sweep test is completed；120 degree are rotated further by sweep for the third time
Retouch test；By sweep test three times, the test value of 0 degree, 120 degree and 240 degree of roll rotation is obtained respectively；
(5) by taking 0 degree of roll rotation as an example, roll D coordinates value is calculated；The D coordinates value at roller surface any point, passes through
Following equation obtains：
xij=sijcosαicosβj
yij=sij sinαjcosβj
zij=sijsinβj
Thus roller surface three-dimensional coordinate matrix is obtained to be expressed as：
It is primary that 120 degree of tests are often rotated when being tested due to roll, therefore can obtain three groups of matrixes, 0 degree of test matrix：(X0,Y0,Z0)、
120 degree of test matrix (X120,Y120,Z120) and 240 degree of test matrix (X240,Y240,Z240)。
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| CN110280597A (en) * | 2019-06-13 | 2019-09-27 | 首钢集团有限公司 | A kind of method and device of rolling mill lining plate spatial position simulative optimization |
| CN110287451A (en) * | 2019-06-28 | 2019-09-27 | 安徽工业大学 | A kind of the prediction of hardenability method and its prediction model method for building up of artificial neural network steel |
| CN110543681A (en) * | 2019-08-02 | 2019-12-06 | 武汉理工大学 | accurate construction method for large non-revolving component split type space envelope forming roller |
| CN110926407A (en) * | 2019-11-25 | 2020-03-27 | 中国十七冶集团有限公司 | Remote control measurement system and use method |
| CN111421001A (en) * | 2019-01-10 | 2020-07-17 | 宝山钢铁股份有限公司 | Online accurate centering system of high-speed wire rod mill and centering method thereof |
| CN113118223A (en) * | 2021-04-23 | 2021-07-16 | 中天钢铁集团有限公司 | Method for adjusting rolling center line of bar and wire continuous rolling mill set |
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